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Hello,

I was wondering if there is a way to use the gazebo world objects in the .world file for planning with Moveit in code? When I write them as collision objects within C++ code, they appear in rviz but not in gazebo, so I want to use the world file instead, so I can use those objects to do pick and place operations with them. Or is there a way to make the collision objects in code appear in gazebo as well?

Any suggestions?

Thanks!

I know that ORK is the replacement library, that is why I installed it, however, since the structure is different I don't know which message types to publish. Could you give a more specific example on how to use the library? Like what is used instead of tabletop_object_detector::TabletopDetection?

I need to recognize objects on the tabletop, and return their coordinates and sizes to my manipulator, but I want to also run this algorithm in the simulation (v-rep). I have previously written an object recognizer using tabletop_object_detector in ros fuerte using the PR2 pick and place tutorials, and I need to update the code so I can use it with indigo. However, there is no "tabletop_object_detector/TabletopDetection.h" file and the structure of the tabletop has changed as I have downloaded the ORK library (both as ros-indigo library and the source code from website) and looked at its source codes. I checked the website as well, but I couldn't find any tutorials on how to write a code based on the new library and there is no PR2 pick and place tutorial for indigo, so I'm stuck. Could anyone please give an advice on which library should I use, perhaps a tutorial? Or is there any other library which is more easy to use with tutorials and instructions in order to use it within my own code?